CN107186108A - Robot device in a kind of mould applied to multi-station Die Used in Pressworking - Google Patents
Robot device in a kind of mould applied to multi-station Die Used in Pressworking Download PDFInfo
- Publication number
- CN107186108A CN107186108A CN201710261565.9A CN201710261565A CN107186108A CN 107186108 A CN107186108 A CN 107186108A CN 201710261565 A CN201710261565 A CN 201710261565A CN 107186108 A CN107186108 A CN 107186108A
- Authority
- CN
- China
- Prior art keywords
- slide unit
- pressworking
- robot device
- die used
- station die
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robot device in a kind of mould applied to multi-station Die Used in Pressworking, including horizontally slidable and vertical sliding motion a slide unit, multiple manipulator arms are connected with the slide unit, the manipulator arm front end, which is provided with adsorbent equipment, to be used to adsorb workpiece, pass through the cooperation of multi-robot, greatly promote operating efficiency, simultaneously, each manipulator arm can also carry out self rotation, the manipulator arm is set both to have adsorbed the workpiece above manipulator arm while the workpiece below manipulator arm can also be adsorbed, add the adaptability of the robot device, so as to go to change robot device when applied to new diel, so as to reduce cost.
Description
Technical field
The present invention relates to Multi-station stamping die technical field of mold, and in particular to a kind of applied to multi-station Die Used in Pressworking
Robot device in mould.
Background technology
Punching production technique shapes because of its chipless enjoys enterprise to favor, and various punching press enterprises are largely processed using punch press
Product is produced, the punching machine structure of early application is simple, it is with low cost, it is necessary to staff carries out picking and placeing workpiece, but due to work
Making personnel's carelessness or fatigue causes the personal injury of Crush injury hand etc. to happen occasionally, using machine in mould in existing diel
Tool hand can not only improve the gentle labor productivity of Automated water of production, and can reduce labor intensity, ensure product matter
Amount, realization safety in production, can greatly increase the performance of enterprises, therefore obtain more and more widely using.
Manipulator can only be directed to a station and carry out picking and placeing workpiece in existing mould, and with the demand of production, it is existing
Diel all include multiple stations, it is therefore desirable to manipulator is overall to improve in a kind of mould that can adapt to multiple stations
Ram efficiency.
The content of the invention
The present invention is improved there is provided a kind of applied to multi-station Die Used in Pressworking for disadvantages mentioned above of the prior art
Robot device in mould, coordinates to complete the automatic clamping and placing workpiece work in multi-station Die Used in Pressworking by manipulator in multiple moulds
Make, automaticity is improved, so as to improve production efficiency.
To achieve the above object, the present invention provides following technical scheme：In a kind of mould applied to multi-station Die Used in Pressworking
It is provided with robot device, including bottom plate, the bottom plate in a horizontal rail, the horizontal rail and is provided with a skate machine
Structure, the sliding equipment include a casing and one can in the horizontal rail level slide slide unit, wherein, the casing bag
Include and be provided with two blocks of side plates parallel with the horizontal rail and the upper plate being arranged above the side plate, the side plate vertically
Track, the slide unit can be slided up and down on the vertical track, the slide unit also with a horizontal motor and a motor vertical phase
Connect, wherein, the horizontal motor is used to drive the slide unit to slide in horizontal rail, and the motor vertical is described for driving
Slide unit is slided on vertical track, meanwhile, the casing is stretched out in the slide unit both sides, and the extension of both sides is connected to one
Mechanical arm fixed plate, the mechanical arm fixed plate, which is connected with a cross bar, the cross bar, is provided with some manipulator hands
Front end is provided with adsorbent equipment for absorption workpiece on arm, the manipulator arm.
Further, the horizontal motor is installed on the side of the slide unit, and the motor vertical is installed on the upper plate
On.
Further, both sides are respectively arranged with arm briquetting on the slide unit, by the arm briquetting by the machinery
Arm fixing plate is fixed on the slide unit.
Further, guide rail cushion block is provided between the slide unit and the horizontal rail and vertical track.
Further, in addition to approach switch sensor, the approach switch sensor is arranged on the upper plate or set
It is placed on the slide unit.
Further, the adsorbent equipment is Pneumatic suction cup or magnetic adsorption device.
Further, the manipulator arm at least includes 4.
Further, the manipulator arm, which is divided on leading portion and back segment, the leading portion, is provided with adsorbent equipment, meanwhile,
An electric rotating machine is provided with the junction, the electric rotating machine is used to drive the manipulator arm leading portion to carry out 360 ° of rotations
Turn.
Further, alignment device is provided with the manipulator arm, the alignment device is used to judge the machinery
Whether hand arm reaches required position.
The present invention compared with prior art, the beneficial effects of the invention are as follows：
Changing manipulator in mould in the prior art for a station can only pick and place the shortcoming of part, pass through multi-robot
Coordinate, greatly promote operating efficiency, meanwhile, each manipulator arm can also carry out self rotation, make the manipulator arm both
The workpiece above manipulator arm can be adsorbed while the workpiece below manipulator arm can also be adsorbed, added
The adaptability of the robot device, so as to need not go to change robot device when applied to new diel, so as to subtract
Small cost.
Brief description of the drawings
Fig. 1 is the top view of robot device in the mould；
Fig. 2 is the front view of robot device in the mould；
Reference：1- slide units, 2- mechanical arm fixed plates, 3- cross bars, 4- manipulator arms, 5- adsorbent equipments, 6- levels electricity
Machine, 7- motor verticals, 8- upper plates, 9- bottom plates.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Refer to shown in Fig. 1-2, the present invention provides following technical scheme：In a kind of mould applied to multi-station Die Used in Pressworking
It is provided with robot device, including bottom plate 9, the bottom plate 9 in a horizontal rail, the horizontal rail and is provided with a skate machine
Structure, the sliding equipment include a casing and one can in the horizontal rail level slide slide unit 1, wherein, the casing
Including the two block side plates parallel with the horizontal rail and the upper plate 8 being arranged above the side plate, it is provided with the side plate
Vertical track, the slide unit 1 can be slided up and down on the vertical track, and the slide unit 1 is also vertical with a horizontal motor 6 and one
Motor 7 is connected, wherein, the horizontal motor 6 is used to drive the slide unit 1 to slide in horizontal rail, and the motor vertical 7 is used
Slided in the driving slide unit 1 on vertical track, meanwhile, the casing, the extension of both sides are stretched out in the both sides of slide unit 1
A mechanical arm fixed plate is connected to, the mechanical arm fixed plate is connected with a cross bar, if being provided with the cross bar
Front end is provided with adsorbent equipment 5 for absorption workpiece on dry root manipulator arm, the manipulator arm 4.
Further, the horizontal motor 6 is installed on the side of the slide unit, and the motor vertical 7 is installed on described
On plate 8.
Further, both sides are respectively arranged with arm briquetting on the slide unit 1, by the arm briquetting by the machinery
Arm fixing plate 2 is fixed on the slide unit 1.
Further, it is provided with guide rail cushion block between the slide unit 1 and the horizontal rail and vertical track.
Further, in addition to approach switch sensor, the approach switch sensor is arranged on the upper plate 8 or set
It is placed on the slide unit 1.
Further, the adsorbent equipment 5 is Pneumatic suction cup or magnetic adsorption device.
Further, the manipulator arm 4 at least includes 4.
Further, 4 points of the manipulator arm is to be provided with adsorbent equipment on leading portion and back segment, the leading portion, meanwhile,
An electric rotating machine is provided with the junction, the electric rotating machine is used to drive the manipulator arm leading portion to carry out 360 ° of rotations
Turn.
Further, alignment device is provided with the manipulator arm 4, the alignment device is used to judge the machinery
Whether hand arm 4 reaches required position, during the manipulator arm brings into operation with slide unit, the alignment device
It can carry out whether the detection manipulator arm 4 reaches required position in real time, if being not reaching to required position, institute
Slide unit is stated to may proceed into line slip, and after reaching, then can send signal makes the slide unit stop sliding.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. it is provided with a water on robot device in a kind of mould applied to multi-station Die Used in Pressworking, including bottom plate, the bottom plate
A sliding equipment is provided with plate rail road, the horizontal rail, the sliding equipment can be in the level including a casing and one
The slide unit that level is slided on track, wherein, the casing is including the two block side plates parallel with the horizontal rail and is arranged at institute
State and vertical track be provided with the upper plate above side plate, the side plate, the slide unit can be slided up and down on the vertical track,
The slide unit is also connected with a horizontal motor and a motor vertical, wherein, the horizontal motor is used to drive the slide unit in water
Slided on plate rail road, the motor vertical is used to drive the slide unit to slide on vertical track, meanwhile, the slide unit both sides are stretched
Go out the casing, the extension of both sides is connected to a mechanical arm fixed plate, and the mechanical arm fixed plate is connected with
Be provided with one cross bar, the cross bar front end on some manipulator arms, the manipulator arm be provided with adsorbent equipment with
For adsorbing workpiece.
2. robot device in a kind of mould applied to multi-station Die Used in Pressworking according to claim 1, its feature exists
In：The horizontal motor is installed on the side of the slide unit, and the motor vertical is installed on the upper plate.
3. robot device in a kind of mould applied to multi-station Die Used in Pressworking according to claim 1, its feature exists
In：Both sides are respectively arranged with arm briquetting on the slide unit, are fixed the mechanical arm fixed plate by the arm briquetting
In on the slide unit.
4. robot device in a kind of mould applied to multi-station Die Used in Pressworking according to claim 1, its feature exists
In：Guide rail cushion block is provided between the slide unit and the horizontal rail and vertical track.
5. robot device in a kind of mould applied to multi-station Die Used in Pressworking according to claim 1, its feature exists
In：Also include approach switch sensor, the approach switch sensor is arranged on the upper plate or is arranged on the slide unit.
6. robot device in a kind of mould applied to multi-station Die Used in Pressworking according to claim 1, its feature exists
In：The adsorbent equipment is Pneumatic suction cup or magnetic adsorption device.
7. robot device in a kind of mould applied to multi-station Die Used in Pressworking according to claim 1, its feature exists
In：The manipulator arm at least includes 4.
8. robot device in a kind of mould applied to multi-station Die Used in Pressworking according to claim 1, its feature exists
In：The manipulator arm, which is divided on leading portion and back segment, the leading portion, is provided with adsorbent equipment, meanwhile, in the leading portion with after
The junction of section is provided with an electric rotating machine, and the electric rotating machine is used to drive the manipulator arm leading portion to carry out 360 ° of rotations
Turn.
9. robot device in a kind of mould applied to multi-station Die Used in Pressworking according to claim 1 or 8, its feature
It is：Alignment device is provided with the manipulator arm, the alignment device is used to judge whether the manipulator arm arrives
Up to required position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710261565.9A CN107186108B (en) | 2017-04-20 | 2017-04-20 | Be applied to multistation stamping die's interior manipulator device of mould |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710261565.9A CN107186108B (en) | 2017-04-20 | 2017-04-20 | Be applied to multistation stamping die's interior manipulator device of mould |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107186108A true CN107186108A (en) | 2017-09-22 |
| CN107186108B CN107186108B (en) | 2020-01-21 |
Family
ID=59871885
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710261565.9A Active CN107186108B (en) | 2017-04-20 | 2017-04-20 | Be applied to multistation stamping die's interior manipulator device of mould |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107186108B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110227767A (en) * | 2019-06-27 | 2019-09-13 | 乐清市小林模具科技有限公司 | Wiring nose automatic moulding mould |
| CN111319059A (en) * | 2020-03-05 | 2020-06-23 | 杭州亚太智能装备有限公司 | Six-axis mechanical arm manipulator for picking and placing mold gate filter screen and operation method thereof |
| CN114042795A (en) * | 2021-11-26 | 2022-02-15 | 东莞市正翔金属科技有限公司 | Overheating cooling system for metal object subjected to multiple stamping |
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| CN206824549U (en) * | 2017-04-20 | 2018-01-02 | 常熟市杜尼电子有限责任公司 | Robot device in a kind of mould applied to multi-station Die Used in Pressworking |
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| CN102717003A (en) * | 2012-03-23 | 2012-10-10 | 顺德职业技术学院 | Automatic material taking and feeding mechanical hand for multi-station transmission die stamping |
| CN203409057U (en) * | 2013-08-12 | 2014-01-29 | 米亚精密金属科技（东莞）有限公司 | Full-automatic numerical control punch press |
| CN203556763U (en) * | 2013-10-14 | 2014-04-23 | 广东顺德劳佰得机器人科技有限公司 | Rapid material feeding and taking device for high-speed precision punch |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110227767A (en) * | 2019-06-27 | 2019-09-13 | 乐清市小林模具科技有限公司 | Wiring nose automatic moulding mould |
| CN111319059A (en) * | 2020-03-05 | 2020-06-23 | 杭州亚太智能装备有限公司 | Six-axis mechanical arm manipulator for picking and placing mold gate filter screen and operation method thereof |
| CN111319059B (en) * | 2020-03-05 | 2023-04-18 | 杭州亚太智能装备有限公司 | Six-axis mechanical arm manipulator for picking and placing mold gate filter screen and operation method thereof |
| CN114042795A (en) * | 2021-11-26 | 2022-02-15 | 东莞市正翔金属科技有限公司 | Overheating cooling system for metal object subjected to multiple stamping |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107186108B (en) | 2020-01-21 |
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